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Publish Best particle pose #82

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Publish Best particle pose #82

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24 changes: 24 additions & 0 deletions gmapping/src/slam_gmapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,7 @@ Initial map dimensions and resolution:
#include "ros/ros.h"
#include "ros/console.h"
#include "nav_msgs/MapMetaData.h"
#include "geometry_msgs/PoseStamped.h"

#include "gmapping/sensor/sensor_range/rangesensor.h"
#include "gmapping/sensor/sensor_odometry/odometrysensor.h"
Expand Down Expand Up @@ -271,6 +272,7 @@ void SlamGMapping::startLiveSlam()
entropy_publisher_ = private_nh_.advertise<std_msgs::Float64>("entropy", 1, true);
sst_ = node_.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
sstm_ = node_.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
sstp_ = node_.advertise<geometry_msgs::PoseStamped>("slam_out_pose", 1, true);
ss_ = node_.advertiseService("dynamic_map", &SlamGMapping::mapCallback, this);
scan_filter_sub_ = new message_filters::Subscriber<sensor_msgs::LaserScan>(node_, "scan", 5);
scan_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(*scan_filter_sub_, tf_, odom_frame_, 5);
Expand All @@ -286,6 +288,7 @@ void SlamGMapping::startReplay(const std::string & bag_fname, std::string scan_t
entropy_publisher_ = private_nh_.advertise<std_msgs::Float64>("entropy", 1, true);
sst_ = node_.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
sstm_ = node_.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
sstp_ = node_.advertise<geometry_msgs::PoseStamped>("slam_out_pose", 1, true);
ss_ = node_.advertiseService("dynamic_map", &SlamGMapping::mapCallback, this);

rosbag::Bag bag;
Expand Down Expand Up @@ -624,6 +627,7 @@ SlamGMapping::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
}

GMapping::OrientedPoint odom_pose;
publishPose(gsp_->getParticles()[gsp_->getBestParticleIndex()].pose);

if(addScan(*scan, odom_pose))
{
Expand Down Expand Up @@ -802,3 +806,23 @@ void SlamGMapping::publishTransform()
tfB_->sendTransform( tf::StampedTransform (map_to_odom_, tf_expiration, map_frame_, odom_frame_));
map_to_odom_mutex_.unlock();
}

void SlamGMapping::publishPose(const GMapping::OrientedPoint &mpose)
{
// set the best pose parameters
geometry_msgs::PoseStamped best_pose;
best_pose.header.stamp = ros::Time::now();
best_pose.header.frame_id = "map";

// set the xy coordinates
best_pose.pose.position.x = mpose.x;
best_pose.pose.position.y = mpose.y;

// set the orientation
best_pose.pose.orientation.w = cos(mpose.theta*0.5f);
best_pose.pose.orientation.z = sin(mpose.theta*0.5f);

sstp_.publish(best_pose);

}

2 changes: 2 additions & 0 deletions gmapping/src/slam_gmapping.h
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Expand Up @@ -60,12 +60,14 @@ class SlamGMapping
bool mapCallback(nav_msgs::GetMap::Request &req,
nav_msgs::GetMap::Response &res);
void publishLoop(double transform_publish_period);
void publishPose(const GMapping::OrientedPoint &mpose);

private:
ros::NodeHandle node_;
ros::Publisher entropy_publisher_;
ros::Publisher sst_;
ros::Publisher sstm_;
ros::Publisher sstp_;
ros::ServiceServer ss_;
tf::TransformListener tf_;
message_filters::Subscriber<sensor_msgs::LaserScan>* scan_filter_sub_;
Expand Down